DE102009057553A1 - A method for assisting the driver of a road-bound vehicle in the vehicle guidance - Google Patents

Abstract

The invention relates to a method for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system (1) and evaluated by means of an image evaluation system. According to the invention, the image data of the surroundings sensor system (1) are evaluated with regard to lane-relevant information, wherein the recognized lane-relevant information is evaluated by means of country-specific lane markings stored in a memory device (2a) and a first country estimation signal (S1) corresponding to the current location of the vehicle is generated, and / or evaluated with regard to traffic-sign-relevant information, wherein the recognized traffic sign relevant information is evaluated by means of a memory device (3a) stored country-specific traffic signs indicating data and the current location of the vehicle corresponding country estimation signal (S2) is generated and / or with regard to the detection of motor vehicle license plate (4) are evaluated and a country estimate signal (S3) is generated by means of a frequency analysis. By means of a microprocessor (5), a country signal (L) indicating the current location of the vehicle is generated from a country estimation signal (S1, S2, S3) or several country estimation signals (S1, S2, S3), wherein the driver signal (L) is provided by a driver information device ( 6) for outputting the longitudinal and lateral guidance of the vehicle relevant country-specific information is controlled and / or the country signal (L) at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system (7) is supplied. Furthermore, the invention also relates to a device for carrying out the method according to the invention.

Description

The invention relates to a method for assisting the driver of a road-bound vehicle in the vehicle guidance according to the preamble of patent claim 1. Furthermore, the invention relates to a device for carrying out the method according to the invention.

There are known driver assistance systems that support the driver in the longitudinal and / or transverse guidance or take over this task independently, such as ACC (Adaptive Cruise Control), LDW (Lane Departure Warning), ISA (Intelligent Speed Adaption) or lane detection systems.

The essential task of such systems is to reliably detect the course of the traffic lane and its lateral boundaries, in particular with regard to the ISA function traffic signs safely, d. H. especially with a low rejection rate.

So is out of the DE 103 11 240 A1 a device for tracking a vehicle known, are detected and evaluated by means of environment sensors and by means of evaluation means lane or lane limiting markers, which are stored in a storage device country-specific marking rules for the marking of lanes. To use this data, a navigation device is provided, with which the location of the vehicle is determined.

Furthermore, from the DE 103 43 941 A1 a method is known in which after exceeding a national border or in the event of an imminent crossing of a national border, the changing traffic rules are issued. This includes, for example, a regulation for a light control of the vehicle or a regulation for a maximum speed of the vehicle. Also in this known method, the position of the vehicle by means of a navigation device, in particular via a satellite location is determined.

A method for traffic sign recognition with the additional use of navigation data is, for example, from the EP 1 114 371 B1 in which, after the recognition of traffic signs for locating the vehicle, navigation data are provided and these are compared with each other and updated if necessary. For this purpose, these data are fed to an evaluation unit, a currently valid speed limit determined and possibly generated control signals for a driver assistance system.

However, these known methods or systems do not yet satisfactorily solve the problem that driver assistance systems have to adapt to country-specific features, for example in the case of lane recognition systems, such as LDW or in the case of traffic sign recognition. Thus, for example, the recognition performance of the classifiers used in traffic signal recognition systems could be improved if this had information about the country in which the vehicle is currently located. Also, lane detection algorithms could benefit from such information, for example, to resolve ambiguities in the lane markings.

The object of the invention is therefore to provide an improved method for assisting the driver of a road-bound vehicle in the leadership of his vehicle of the type mentioned, with the particular false detection with respect to lane and traffic sign recognition can be reduced.

This object is achieved by a method having the features of patent claim 1.

• – die Bilddaten der Umfeldsensorik hinsichtlich fahrspurrelevanten Informationen ausgewertet werden,
• – die erkannten fahrspurrelevanten Informationen mittels in einer Speichereinrichtung gespeicherten länderspezifische Fahrspurmarkierungen anzeigende Daten ausgewertet werden und ein dem aktuellen Ort des Fahrzeugs entsprechendes erstes Länderschätzsignal erzeugt wird,
• – mittels eines Mikroprozessors aus dem Länderschätzsignal ein den aktuellen Ort des Fahrzeugs anzeigendes Ländersignal erzeugt wird, und
• – mit dem Ländersignal eine Fahrerinformationseinrichtung zur Ausgabe von die Längs- und Querführung des Fahrzeugs betreffenden länderspezifischen Informationen angesteuert wird und/oder das Ländersignal wenigstens einem die Längs- und/oder Querführung des Fahrzeugs unterstützendes Fahrerassistenzsystem zugeführt wird.

In this method for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the markings and traffic signs delimiting the lanes of a road are detected by means of environment sensors and evaluated by means of an image evaluation system, it is provided according to the invention that

• The image data of the surroundings sensor system are evaluated with regard to lane-relevant information,
• The recognized lane-relevant information is evaluated by means of data indicative of country-specific lane markings stored in a memory device and a first country estimation signal corresponding to the current location of the vehicle is generated,
• - By means of a microprocessor from the country estimation signal indicating a current location of the vehicle country signal is generated, and
• - With the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system.

Preferably, the country signal is supplied to a traffic signal recognition system and / or a license plate recognition system.

Furthermore, the object is also achieved by a method having the features of patent claim 3.

• – die Bilddaten der Umfeldsensorik hinsichtlich verkehrszeichenrelevanten Informationen ausgewertet werden,
• – die erkannten verkehrszeichenrelevanten Informationen mittels in einer Speichereinrichtung gespeicherten länderspezifische Verkehrszeichen anzeigende Daten ausgewertet werden, und ein dem aktuellen Ort des Fahrzeugs entsprechendes zweites Länderschätzsignal erzeugt wird,
• – mittels eines Mikroprozessors aus dem Länderschätzsignal ein den aktuellen Ort des Fahrzeugs anzeigendes Ländersignal erzeugt wird, und
• – mit dem Ländersignal eine Fahrerinformationseinrichtung zur Ausgabe von die Längs- und Querführung des Fahrzeugs betreffenden länderspezifischen Informationen angesteuert wird und/oder das Ländersignal wenigstens einem die Längs- und/oder Querführung des Fahrzeugs unterstützendes Fahrerassistenzsystem zugeführt wird.

In this method, the invention provides that

• The image data of the environmental sensor system are evaluated with regard to information relevant to traffic signs,
• The recognized traffic sign-relevant information is evaluated by means of data indicative of country-specific traffic signs stored in a memory device, and a second country estimation signal corresponding to the current location of the vehicle is generated,
• - By means of a microprocessor from the country estimation signal indicating a current location of the vehicle country signal is generated, and
• - With the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system.

Preferably, the country signal is supplied to a lane detection system and / or a license plate detection system.

Furthermore, the object is also achieved by a method having the features of patent claim 5.

• – die Bilddaten der Umfeldsensorik hinsichtlich der Erkennung von Kraftfahrzeug-Kennzeichen ausgewertet werden und mittels einer Häufigkeitsanalyse ein Länderschätzsignal erzeugt wird,
• – mittels eines Mikroprozessors aus dem Länderschätzsignal ein den aktuellen Ort des Fahrzeugs anzeigendes Ländersignal erzeugt wird, und
• – mit dem Ländersignal eine Fahrerinformationseinrichtung zur Ausgabe von die Längs- und Querführung des Fahrzeugs betreffenden länderspezifischen Informationen angesteuert wird und/oder das Ländersignal wenigstens einem die Längs- und/oder Querführung des Fahrzeugs unterstützendes Fahrerassistenzsystem zugeführt wird.

In this method, the invention provides that

• The image data of the environmental sensor system are evaluated with regard to the recognition of motor vehicle license plates and a country estimation signal is generated by means of a frequency analysis,
• - By means of a microprocessor from the country estimation signal indicating a current location of the vehicle country signal is generated, and
• - With the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system.

Preferably, the country signal is supplied to a traffic signal recognition system and / or a lane recognition system and / or a license plate identification system.

Finally, the object is also achieved by a method having the features of patent claim 7.

• – die Bilddaten der Umfeldsensorik hinsichtlich fahrspurrelevanten Informationen ausgewertet werden,
• – die erkannten fahrspurrelevanten Informationen mittels in einer ersten Speichereinrichtung gespeicherten länderspezifische Fahrspurmarkierungen anzeigende Daten ausgewertet werden und ein dem aktuellen Ort des Fahrzeugs entsprechendes erstes Länderschätzsignal erzeugt wird,
• – die Bilddaten der Umfeldsensorik hinsichtlich verkehrszeichenrelevanten Informationen ausgewertet werden,
• – die erkannten verkehrszeichenrelevanten Informationen mittels in einer zweiten Speichereinrichtung gespeicherten länderspezifische Verkehrszeichen anzeigende Daten ausgewertet werden und ein dem aktuellen Ort des Fahrzeugs entsprechendes zweites Länderschätzsignal erzeugt wird,
• – mittels eines Fusionsmoduls aus dem ersten und zweiten Länderschätzsignal ein den aktuellen Ort des Fahrzeugs anzeigendes Ländersignal erzeugt wird, und
• – mit dem Ländersignal eine Fahrerinformationseinrichtung zur Ausgabe von die Längs- und Querführung des Fahrzeugs betreffenden länderspezifischen Informationen angesteuert wird und/oder das Ländersignal wenigstens einem die Längs- und/oder Querführung des Fahrzeugs unterstützendes Fahrerassistenzsystem zugeführt wird.

In this method for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the markings and traffic signs delimiting the lanes of a road are detected by means of environment sensors and evaluated by means of an image evaluation system, it is provided according to the invention that

• The image data of the surroundings sensor system are evaluated with regard to lane-relevant information,
• The recognized lane-relevant information is evaluated by means of data indicating country-specific lane markings stored in a first memory device, and a first country estimation signal corresponding to the current location of the vehicle is generated,
• The image data of the environmental sensor system are evaluated with regard to information relevant to traffic signs,
• The recognized traffic-sign-relevant information is evaluated by means of data indicating country-specific traffic signs stored in a second memory device, and a second country estimation signal corresponding to the current location of the vehicle is generated,
• - By means of a fusion module from the first and second country estimation signal generating a current location of the vehicle country signal is generated, and
• - With the country signal driver information device for outputting the longitudinal and lateral guidance of the vehicle country-specific information is controlled and / or the country signal is supplied to at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system.

In this case, to determine a country estimation signal from lanes of a road bounding markers or for determining a first country estimation signal lane-relevant information is detected as features that describe the roadway such. Ex. Lane markings, characteristic edge structures, restricted areas, or other country-specific road markings.

• – die Breite der Fahrspurmarkierung,
• – die Austastlücken und die Segmentlängen bei gestrichelten Fahrspurmarkierungen,
• – die Farbe der Markierung,
• – die in den USA verwendeten Bott's Dots (Fahrstreifenmarkierungen),
• – Ausprägungscharakteristiken v. Mehrfachmarkierungen als Kombination der zuvor genannten Merkmale,
• – Geometrische Verhältnisse zwischen den Markierungen (z. B. Abstand zw. linker u. rechter Markierung, Breitenverhältnisse bei Mehrfachmarkierungen),
• – Sonderzeichen wie Richtungspfeile bei Ausfahrten oder Überholverboten,
• – Text u. Schriftzeichen auf der Straße,
• – Farbe der Fahrbahn,
• – Markierungen im Bereich v. Mautstellenzufahrten,
• – Markierungen im Bereich v. Verkehrsinseln,
• – bauliche Besonderheiten von Randsteinen,
• – bauliche Besonderheiten von Leitplanken,
• – Aussehen von Leitpfosten (Farbe, Geometrie, Reflektoreigenschaften), und
• – Farbe der Straßenbeleuchtung.

Detailed features of such features are, for example:

• The width of the lane marking,
• The blanking intervals and the segment lengths for dashed lane markings,
• - the color of the mark,
• - the Bott's Dots (lane markings) used in the USA,
• - Characteristics v. Multiple markers as a combination of the aforementioned features,
• Geometric relationships between the markings (eg distance between left and right markings, width ratios for multiple markings),
• - special characters such as directional arrows for exits or overtaking bans,
• - Text and Characters on the street,
• - color of the roadway,
• - Markings in the range v. Tolls driveways,
• - Markings in the range v. Traffic islands,
• - structural features of curbs,
• - structural features of crash barriers,
• - appearance of guide posts (color, geometry, reflector properties), and
• - Color of street lighting.

• – landesspezifische Ausprägungen der Verkehrszeichen, z. B. in Form, Größe, Farbe, Schrifttypen und Schriftsymbole, oder Bildsymbole in Tempo-Limit Zeichen,
• – landesspezifische Größenverhältnisse mehrerer Schilder zueinander,
• – landesspezifische Abfolge von Schildern, z. B. Geschwindigkeitstrichter vor einer Baustelle (wie bspw. 120 km, 100 km, 80 km, 60 km),
• – landesspezifisches Vorkommen bzw. Fehlen von bestimmten Schildern oder Schildergruppen, z. B. Geschwindigkeitsbegrenzung „80” oder höher in England,
• – landesspezifische Warnhinweisschilder (z. B. Kurve, Glätte)
• – landesspezifischer Inhalt von Verkehrszeichen, z. B. Ortsnamen,
• – Erkennung und Interpretation von Grenztafeln, und
• – Erkennung und Interpretation von Info-Tafeln, z. B. landesweite Geschwindigkeitsbeschränkungshinweise an Grenzen.

Although, according to the Vienna Convention on Road Signs and the Additional Agreement to the Convention on Traffic Signs, some countries have agreed in part to standardize the traffic signs, there are still considerable differences in the character of the traffic signs between the countries. Therefore, for determining a country estimation signal from image data of traffic signs or for determining the second country estimation signal as traffic sign-relevant information, for example, the following features are detected:

• - Country-specific characteristics of traffic signs, eg. In shape, size, color, fonts and font symbols, or icons in tempo-limit characters,
• - country-specific size ratios of several signs to each other,
• - Country specific sequence of signs, eg. B. speed funnel in front of a construction site (such as 120 km, 100 km, 80 km, 60 km),
• - Country-specific occurrence or absence of specific signs or sign groups, eg. Eg speed limit "80" or higher in England,
• - Country-specific warning signs (eg curve, smoothness)
• - Country-specific content of traffic signs, eg. B. place names,
• - detection and interpretation of boundary plates, and
• - Recognition and interpretation of information boards, eg. B. nationwide speed limit indications at borders.

It is particularly advantageous to network the first and second country estimation signals derived from these listed and detected features by means of the microprocessor designed as a fusion module, in order to achieve high accuracy, ie. H. with high probability to determine the country in which the vehicle is currently located. For this purpose, the fusion module weights and selects the two country estimation signals as input values and from this generates the actual country signal indicating the country in which the vehicle is located.

With the country signal supplied to a driver information device, country-specific information is made available to the driver, for example a country-specific maximum speed on highways.

If such a country signal is made available to a driver assistance system, country-specific traffic laws and traffic standards can be met, that is, for example, by appropriate country-dependent parameterization in an ACC system, the minimum distance to the vehicle in front.

Furthermore, with such a country signal together with a determination of the road class as lane-relevant information, an implicit speed limit can be determined and used by a driver assistance system for regulating the vehicle speed.

Furthermore, as additional information for a navigation system, for the warning strategy of an LDW assistance system or for an ACC assistance system, the country signal together with the lane-relevant information serve the position of the current lane running within the road. With an ACC system, the statutory distance to the vehicle in front can be maintained country-specific.

Further advantages of the method according to the invention result from the possibility of carrying out a dynamic adaptation of algorithms to the country conditions with the country signal, so that the proportion of false detections is reduced.

According to an advantageous development of the invention, the image data of the environmental sensor system are evaluated with regard to the recognition of motor vehicle registration numbers, in order to generate from this by means of a frequency analysis a third country estimation signal, which is supplied to the fusion module.

Since, as a rule, different functions for driver assistance systems are also implemented in different components of the vehicle, the country signal may advantageously be supplied to a traffic sign recognition system, in order, for example, to select traffic sign classifiers as a function of the country signal or to adapt parameter adjustment of image processing algorithms, eg. For example, to carry out detection thresholds as a function of the country signal. As a result, the detection performance is significantly increased while reducing a false detection.

If the country signal is supplied to a lane detection system of the vehicle, a Dynamic adaptation of algorithms to the country conditions are made in order to increase the detection performance while reducing a false detection. For example, the detection of Botts 'Dots can be restricted to the country USA in order to prevent possibly false warnings due to misrecognized Botts' dots in other countries. A further advantage is the saving of computation time, as special detector stages can possibly be completely switched off (eg Bott's dot detection, rectangular speed limits in the USA, etc.).

• – Mehrfachmarkierungen in Japan semantisch teilweise entgegengesetzte Bedeutungen als in Europa haben; so dass sich dies nur mit einem Länderwissen, also mittels des Ländersignals modellieren lässt,
• – eine Doppelmarkierung sich richtig interpretieren lässt, da bspw. ein Überholen nur erlaubt ist, wenn innerhalb der Fahrspur die Markierung gestrichelt, jedoch außerhalb der Fahrspur durchgezogen ist,
• – eine Baustelle sich nur aufgrund der Markierungsfarbe in Abhängigkeit des Landes sich richtig erkennen lässt (bspw. ist in Deutschland die Markierungsfarbe einer Baustelle Gelb, in USA wird dagegen die Farbe Gelb als normale Markierung verwendet), und
• – die Semantik von gestrichelten Markierungen sich von Land zu Land unterscheiden kann und u. a. abhängig von den Austastlücken/Segment-Längen ist (Beispiel: In Spanien u. Frankreich sind Außenmarkierungen von Autobahnen häufig ”lang” gestrichelt).

Further advantages are that a semantic interpretation of the scene can be derived correctly since

• - multiple markers in Japan semantically have partially opposite meanings than in Europe; so that this can only be modeled with a country knowledge, ie by means of the country signal,
• A double mark can be interpreted correctly, since, for example, overtaking is only permitted if the marking is dashed inside the traffic lane but is pulled through outside the traffic lane,
• - A construction site can only be identified correctly due to the marking color depending on the country (eg in Germany the marking color of a construction site is yellow, in the USA the color yellow is used as normal marking), and
• - The semantics of dashed marks may differ from country to country and is dependent, among other things, on blanking intervals / segment lengths (Example: In Spain and France, motorway external markings are often dashed "long").

Furthermore, it is particularly advantageous if, according to a development of the invention, the unit of measure, ie km / h or mph of the numbers recognized on the traffic signs, is determined from the driving data of the vehicle, in particular its driving speed and the recognized traffic-sign-relevant information.

Furthermore, it is advantageous according to an embodiment of the invention as traffic sign relevant information country-specific positioning of the traffic signs both laterally to detect the lane of the vehicle and relative to each other, for example, to estimate whether left or right traffic prevails to the driver by means of the driver information device display.

According to one embodiment of the invention, it is also advantageous to detect the color of the street lighting as Fahrspurrelevante information and to use for generating the first country estimate signal.

Furthermore, according to a development of the invention, it is advantageous if countries with matching characteristics are combined to form a country group or a region, so that in the case of lunar-relevant and traffic-sign-relevant information that matches several countries, a country signal indicating these countries or a corresponding country group is generated by the fusion module.

It is particularly non-volatile to save the country signal, the country signal, in particular via an ignition run of the vehicle.

An apparatus for carrying out the method according to the invention is given in each case with the features of one of the independent patent claims 16, 17, 18 or 19.

The invention will be explained in more detail with reference to the accompanying single figure. This figure shows a block diagram of a device for carrying out an embodiment of the method according to the invention.

This device installed in a vehicle comprises an environment sensor implemented as a camera 1 , a lane detection system 2 with an associated first memory device 2a , a traffic sign recognition system 3 with an associated second storage device 3a and a license plate recognition system 4 with an associated third storage device 4a , These systems mentioned 2 . 3 and 4 get from the camera 1 Image data of the vehicle environment. The camera 1 is usually installed behind the windshield in the area of the interior rear-view mirror and directed forwards, so that both the carriageway with the vehicles in front and the edges of the carriageway are detected.

The lane detection system 2 comprises an image processing system with which the obtained image data is processed and be evaluated. The image data of the camera 1 are evaluated with regard to lane-relevant information by means of the recognized lane-relevant information by means in the first memory device 2a data indicative of stored country-specific lane markings are compared and a country estimation signal S1 corresponding to the current location of the vehicle is generated, which corresponds to a fusion module 5 , usually a microprocessor is supplied.

The traffic sign recognition system 3 Also includes an image processing system that processes and evaluates the resulting image data. The image data of the camera 1 be evaluated with regard to traffic sign relevant information by the recognized traffic sign relevant information by means of a second memory device 3a stored country-specific traffic sign indicating data are compared and a the current location of the vehicle corresponding second country estimation signal S2 is generated. This second country estimation signal S2 also becomes the fusion module 5 fed.

Finally, the image data is also from the license plate detection system 4 edited and by means of in its associated memory device 4a country-specific vehicle identifier indicative data compared and a third country estimation signal S3 the fusion module 5 fed. Alternatively, the device may also be without such a license plate detection system 4 will be realized.

The fusion module determines from these three country estimation signals S1, S2 and S3 5 a country signal L stored in a nonvolatile memory 5a of the fusion module 5 is stored at least over an ignition run of the vehicle. This country signal L is both a driver information device 6 and / or a driver assistance system 7 , For example, an ACC system or a lane detection system, which includes, for example, a lane keeping function and / or lane change assistant supplied. In particular, an ACC system with the country signal set the country-specific legal allowable distance to the vehicle in front and take over in the appropriate regulation.

With such a driver information device 6 For example, the driver can be informed about the applicable speed limit on a motorway, or information about the traffic regulations and traffic regulations that apply in the current country can be obtained. It is also possible to indicate to the driver whether the speedometer is displayed in "km / h" or "mph".

Alternatively, the device may 1 for carrying out the method according to the invention also be constructed so that only the image processing system of the lane detection system 2 generates a country estimation signal S1 from which the fusion module 5 generates a country signal L which corresponds to both the lane detection system 3 as well as the license plate detection system 4 is supplied.

Another alternative embodiment results from employing the image processing system of the lane detection system 2 the traffic sign identification system 3 generates a country estimation signal S2, which in turn as a country signal L the lane detection system 2 as well as the license plate detection system 4 is supplied.

Furthermore, instead of the image processing system of the lane detection system 2 only the license plate detection system 4 be used for generating a country estimation signal S3, so that the country signal generated therefrom L the other systems, so the lane detection system 2 as well as the traffic sign recognition system 3 can be supplied.

Finally, it is also possible that two of these three systems, so lane detection system 2 and traffic sign recognition system 3 or lane detection system 2 and license plate recognition system 4 or traffic sign recognition system 3 and license plate recognition system 4 each generate a country estimation signal S1 and S2 or S1 and S3 or S2 and S3, from which by means of the fusion module 5 a country signal L is generated.

LIST OF REFERENCE NUMBERS

1

Environment sensor, camera

2

Lane detection system

2a

first storage device

3

Traffic Sign Recognition

3a

second storage device

4

Code determination

4a

third storage device

5

Fusion module, microprocessor

5a

non-volatile memory of the microprocessor 5

6

Driver information device

7

Driver assistance system

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10311240 A1 [0004]
• DE 10343941 A1 [0005]
• EP 1114371 B1 [0006]

Claims (19)

Method for assisting the driver of a road-bound vehicle in vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) are evaluated with regard to lane-relevant information, - the detected lane-relevant information by means of in a memory device ( 2a evaluating stored country-specific lane markings and generating a country estimation signal (S1) corresponding to the current location of the vehicle, - by means of a microprocessor ( 5 ) from the country estimation signal (S1) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for outputting the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal (L) at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system ( 7 ) is supplied. Method according to Claim 1, characterized in that the country signal (L) is a traffic signal recognition system ( 3 ) and / or a license plate detection system ( 4 ) is supplied. Method for assisting the driver of a road-bound vehicle in vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) are evaluated with regard to traffic-sign-relevant information, - the recognized traffic-sign-relevant information by means of in a storage device ( 3a stored country-specific traffic sign indicative data are evaluated and the current location of the vehicle corresponding country estimation signal (S2) is generated, - by means of a microprocessor ( 5 ) from the country estimation signal (S2) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for outputting the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal (L) at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system ( 7 ) is supplied. Method according to Claim 3, characterized in that the country signal (L) corresponds to a lane recognition system ( 2 ) and or a license plate detection system ( 4 ) is supplied. Method for assisting the driver of a road-bound vehicle in vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) with regard to the recognition of motor vehicle registration plates ( 4 ) and by means of a frequency analysis a country estimation signal (S3) is generated, - by means of a microprocessor ( 5 ) from the country estimation signal (S3) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for outputting the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal (L) at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system ( 7 ) is supplied. Method according to claim 5, characterized in that the country signal (L) is a traffic signal recognition system ( 3 ) and / or a lane recognition system ( 2 ) and / or a license plate detection system ( 4 ) is supplied. Method for assisting the driver of a road-bound vehicle in vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) are evaluated with regard to lane-relevant information, - the detected lane-relevant information by means of in a first memory device ( 2a evaluating stored country-specific lane markings indicating data and a current country of the vehicle corresponding first country estimation signal (S1) is generated, - the image data of the environment sensor ( 1 ) are evaluated with regard to information relevant to traffic signs, The recognized traffic sign-relevant information by means of a second memory device ( 3a ) are displayed and a corresponding to the current location of the vehicle second country estimation signal (S2) is generated, - by means of a trained as a fusion module microprocessor ( 5 ) from the first and second country estimation signal (S1, S2) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for outputting the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal (L) at least one of the longitudinal and / or transverse guidance of the vehicle assisting driver assistance system ( 7 ) is supplied. A method according to claim 7, characterized in that the image data of the environment sensor ( 1 ) with regard to the recognition of motor vehicle registration plates ( 4 ) and by means of a frequency analysis, a third country estimation signal (S3) is generated, which corresponds to the fusion module ( 5 ) is supplied. Method according to claim 7 or 8, characterized in that the country signal (L) is a traffic signal recognition system ( 3 ) is supplied. Method according to one of claims 7 to 9, characterized in that the country signal (L) a lane detection system ( 2 ) is supplied. Method according to one of the preceding claims, characterized in that the unit of measurement (km / h, mph) of the numbers recognized on the traffic signs is determined from the driving data of the vehicle, in particular its driving speed and the recognized traffic-sign-relevant information. Method according to one of the preceding claims, characterized in that the traffic sign relevant information includes country-specific positioning of traffic signs both laterally to the lane of the vehicle and relative to each other. Method according to one of the preceding claims, characterized in that the color of the road is detected as Fahrspurrelevante information and is used to generate a country estimate signal. Method according to one of the preceding claims, characterized in that, in the case of lane-relevant and / or traffic-sign-relevant information that matches several countries, a country estimation signal or country signal indicating these countries or a corresponding country group is generated. Method according to one of the preceding claims, characterized in that the country signal is stored non-volatile, in particular via an ignition run of the vehicle. Device for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) by means of an image processing system ( 2 ) are evaluated with regard to lane-relevant information, - the detected lane-relevant information by means of in a memory device ( 2a ) of the image processing system ( 2 evaluating stored country-specific lane markings and generating a country estimation signal (S1) corresponding to the current location of the vehicle, - by means of a microprocessor ( 5 ) from the country estimation signal (S1) a current location of the Vehicle indicating country signal (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for the output of the longitudinal and lateral guidance of the vehicle country-specific information and / or the country signal at least one of the longitudinal and / or transverse guidance of the vehicle supportive driver assistance system ( 7 ) is supplied. Device for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) are detected and evaluated by means of an image evaluation system, characterized in that, the image data of the environment sensor ( 1 ) by means of an image processing system ( 3 ) are evaluated with regard to traffic-sign-relevant information, - the recognized traffic-sign-relevant information by means of in a storage device ( 3a ) of the image processing system ( 3 stored country-specific traffic sign indicative data are evaluated and the current location of the vehicle corresponding country estimation signal (S2) is generated, - by means of a microprocessor ( 5 ) from the country estimation signal (S2) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for the output of the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system ( 7 ) is supplied. Device for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) are detected and evaluated by means of an image evaluation system, characterized in that, the image data of the environment sensor ( 1 ) with regard to the recognition of motor vehicle registration plates ( 4 ) and by means of a frequency analysis a country estimation signal (S3) is generated, - by means of a microprocessor ( 5 ) from the country estimation signal (S3) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for the output of the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system ( 7 ) is supplied. Device for assisting the driver of a road-bound vehicle in the vehicle guidance, in which the vehicle surroundings, in particular the markings and traffic signs delimiting the lanes of a road, are detected by means of an environment sensor system ( 1 ) and evaluated by means of an image evaluation system, characterized in that - the image data of the environment sensor system ( 1 ) by means of a first image processing system ( 2 ) are evaluated with regard to lane-relevant information, - the detected lane-relevant information by means of in a first memory device ( 2a ) of the first image processing system ( 2 ) are displayed evaluated data indicating the country-specific lane markers and a country estimation signal (S1) corresponding to the current location of the vehicle is generated, - the image data of the environmental sensor system ( 1 ) by means of a second image processing system ( 3 ) are evaluated with regard to traffic-sign-relevant information, - the recognized traffic-sign-relevant information by means of in a second memory device ( 3a ) of the second image processing system ( 3 evaluated) are displayed and a corresponding to the current location of the vehicle second country estimation signal (S2) is generated, - by means of a fusion module ( 5 ) from the first and second country estimation signal (S1, S2) a country signal indicating the current location of the vehicle (L) is generated, and - with the country signal (L) a driver information device ( 6 ) is actuated for the output of the longitudinal and transverse guidance of the vehicle country-specific information and / or the country signal at least one of the longitudinal and / or transverse guidance of the vehicle supporting driver assistance system ( 7 ) is supplied.

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